Autonomous Tractor-trailer Back-up Manoeuvering based on Changing Trailer Orientation

Authors:	Gómez-Bravo Fernando, University of Huelva, Spain Cuesta Federico, University of Seville, Spain Ollero Anibal, University of Seville, Spain
Topic:	4.3 Robotics
Session:	Autonomous Robots and Systems
Keywords:	Mobile Robots, Autonomous Parking, Nonholonomic Systems, Tractor-trailer

Abstract

Manoeuvring tractor-trailer vehicles is not a trivial task. This paper presents a method for planning manoeuvres with simple velocity and steering profiles. The method can be easily used in autonomous vehicles and also in a human driver assistance system. A manoeuvre for changing trailer orientation is presented in detail. The practical application of the proposed method has been tested in ROMEO4R autonomous vehicle performing an autonomous parallel parking.